JP2001523871A - Method and apparatus for signaling a local traffic obstruction - Google Patents

Abstract

(57) [Summary] A method and apparatus for signaling a local traffic obstacle by performing decentralized communication between vehicles by exchanging respective vehicle data. Through repeated evaluation of this individual vehicle data, each reference vehicle can determine its associated vehicle group within a certain maximum vehicle group and compare its group behavior with its own. The result of this comparison is displayed on the reference vehicle, whereby a regular traffic flow can occur and the occurrence of accidents is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a method and an apparatus for signaling a local traffic obstacle, and more particularly to a method and an apparatus for recognizing and indicating an accident and an increase in the number of passing vehicles and congestion caused thereby.

In order to avoid traffic jams and accidents when the number of passing vehicles increases, conventional traffic guidance systems are already fixedly installed along traffic sections with particularly heavy loads, for example, high-speed expressways with heavy traffic. This type of conventional fixedly installed traffic guidance system,
For example, it has a number of detecting means for detecting traffic density, speed of vehicle flow, environmental conditions (temperature, fog), etc., and controls vehicle traffic based on respective detection signals along a predetermined section via a display panel. I do. Then, traffic jams and accidents are prevented as much as possible.

[0003] A disadvantage of this type of conventional traffic guidance system is that very high procurement costs are required for fixing devices along certain sections. Moreover, this type of fixedly installed traffic guidance system is less flexible because it only regulates or guides traffic on relatively short sections.

In order to increase flexibility, US Pat. No. 4,706,086 discloses a communication system between a number of vehicles, in which signals and information corresponding to the respective driving conditions of the vehicle are transmitted by means of electromagnetic waves by means of a transceiver unit. Has been proposed.

[0005] Furthermore, from the publication US Pat. No. 5,428,544, it is intended to signal local traffic obstructions, in which the vehicle data or status of the motor vehicle, eg speed, route and direction, are mutually transmitted by a communication device. Devices and methods are known. In this case, the transmission of the respective data to the other vehicles is performed indirectly through the passing vehicles. In addition, this conventional traffic information system requires a navigation module, a map module, and a self-position determination device for identifying its own position. However, conventional communication systems of this kind have the disadvantage that they require a number of very expensive components, such as a map memory, a navigation module, and a positioning module for identifying their own position.

Accordingly, the present invention provides a method and apparatus for signaling local traffic obstructions that can be manufactured at relatively low cost, has high flexibility, and does not rely on fixedly installed detectors. It is based on the purpose of.

According to the invention, this object is achieved by the measures and features of claims 1 and 9.

At this time, a maximum vehicle group to be considered is determined according to a predetermined minimum signal level of each electromagnetic wave signal from a large number of vehicles. Individual vehicle data transmitted by a radio signal, which represents the operating state of each vehicle within the receivable range, is repeatedly evaluated and stored. Based on the stored vehicle data, an evaluation of the individual vehicle data determines the associated reference vehicle group within the largest vehicle group for each vehicle to be investigated. Subsequently, the group behavior of the related group is determined based on the individual vehicle data. This group behavior is signaled in the reference vehicle so that the driver can get timely information about changes or dangers in the relevant vehicle group. Therefore, accidents and congestion can be recognized or avoided in a timely manner.

[0009] The determination of the related vehicle group is preferably performed using fractal Darwinian object generation. In this method, the order or order within a certain vehicle group is generated by considering each vehicle data and subsequently determining the position likelihood. The exact position or sequence of those vehicles in a group can already be determined with a minimum number of vehicle data without using expensive positioning systems.

The groups to be considered in each case can be obtained in particular by the maximum coverage of a certain receiving device. However, it can be determined based on the maximum memory capacity.

As the vehicle data, it is preferable to use an identification code for identifying each vehicle, a speed value indicating the current speed of the vehicle, and an interval parameter. The interval parameter indicating the interval between the reference vehicle and each vehicle in the largest group can be derived, for example, from the received electric field strength of each transmitted radio signal.

As other vehicle data, for example, a deceleration / acceleration value indicating the current deceleration / acceleration of each vehicle, a steering wheel angle indicating the current steering angle of each vehicle, an azimuth value indicating the current absolute azimuth, A position value indicating the current absolute position of the vehicle and a brake signal value indicating the current use of the brake device of the respective vehicle can be considered. Further, a group behavior value indicating a current group behavior of the related group related to the reference vehicle can be transmitted as vehicle data.

The information signaled in the reference vehicle can be made readable and audible via the indicating device. However, it can also be used directly for controlling the braking behavior of the reference vehicle, and can also influence the motor control, for example to effect automatic complete braking.

[0014] Emergency signals can be generated, especially if there is a predetermined combination of individual vehicle data, ie the operating conditions of the respective vehicles, which are given a higher priority than the individual vehicle data signals. This makes it possible, for example, in the event of an imminent danger, to communicate the condition to other groups of following vehicles, thereby providing a particularly quick communication. In order to avoid overlapping of a large number of emergency signals, such an emergency signal is amplified and retransmitted only when its received field strength is below a predetermined threshold (repeater function).

The present invention will now be described in more detail with reference to the drawings and embodiments.

FIG. 1 is a schematic diagram showing a traffic situation that may occur, for example, on a main road.
In FIG. 1, reference numeral 0 indicates a reference vehicle, and reference numerals 1 to 4 indicate vehicles in the first row. Each of the vehicles 0 to 4 is provided with a transmission / reception device, which can transmit individual operation states or vehicle data, or receive vehicle data transmitted from another vehicle. In the embodiment of FIG. 1, only the transmission / reception device of the reference vehicle 0 is considered, and the description will be made focusing on the reception data. Reference vehicle 0 is vehicles 1-4
It is assumed that the vehicle is traveling behind the train of vehicles with intervals, but that the train cannot be visually recognized because, for example, a road passes through a forest area.

It is assumed that at least one of the vehicles 1 to 4 in the vehicle row has a corresponding transmitting and receiving system as well as the reference vehicle 0, thereby transmitting individual vehicle data in the form of electromagnetic waves. The transmitted vehicle data signal has, as minimum vehicle data, a code IC identifying each vehicle and a speed value v giving the current speed of each vehicle.

Furthermore, a group classification or order (described below) has already occurred in this column, and the truck 4 is recognized as the leading vehicle, followed by the vehicles 3, 2, 1 in this order. The group behavior in this column can be described by a substantially uniform speed of, for example, 50 km / h. When the subsequent faster reference vehicle 0 reaches the range where the radio signal of the vehicle 1 can be received, the vehicle data, that is, at least the identification code of the vehicle 2 and its speed value v (50 km / h) are set to a predetermined value in the reference vehicle 0. It is received and stored at the received field strength. This process continues until the relevancy check is passed based on the criteria described below and vehicle 1 is identified as a vehicle associated with reference vehicle 0.

Similarly, vehicles 2 to 4 are also recognized as related vehicles, whereby a vehicle group related to reference vehicle 0 is formed. Relevance criteria for forming or forming a related vehicle group will be described later.

In this manner, the reference vehicle 0 obtains a large number of vehicle data of a train or a related vehicle group traveling ahead. The vehicle data of the relevant vehicle is evaluated by the evaluation device and compared with the vehicle data of the reference vehicle 0 or correlated. In response to this comparison, a signal consisting of, for example, a readable or audible speed deceleration instruction is generated at the reference vehicle 0. In this way, an early warning can be given long before the relevant vehicle group is visually caught, thereby ensuring that accidents are avoided.

However, the generated signal values can not only give an audible or readable indication at the reference vehicle 0, but can also bring about automatic braking or acceleration.

In this way, a method and apparatus for signaling a local traffic hazard that is extremely flexible and does not require fixedly installed sensors or indicating devices is provided. Therefore, the cost of such a system for signaling local traffic disturbances is very low.

Other vehicle data can also be detected and transmitted to increase the accuracy of the system. This kind of vehicle data includes, for example, a deceleration value or an acceleration value indicating the current deceleration or acceleration of each vehicle, a maximum turning angle θ indicating the current maximum turning angle of each vehicle, for example, the current turning of each vehicle by a compass. Direction value DI indicating absolute direction
R, for example, a position value POS indicating the current absolute position of each vehicle via the GPS system, or a braking signal value indicating the current use of the braking device of each vehicle. In addition, the recognized group behavior values, for example, the passing speed of the entire group, can also be transmitted as vehicle data, which makes it possible to combine the groups into a higher-level group.

In order to determine the related vehicle groups 1 to 4, it is preferable to execute a fractal Darwin type object generation method. This method is described, for example, in German Patent Application No. 1
974716 (filed October 24, 1997). In doing so, the fractal hierarchy object library is specifically adapted to traffic conditions, attribute rules determine, for example, certain driving situations of each vehicle, context rules define the order within a vehicle group, and change rules define For example, continuous vehicle grouping at the time of overtaking is determined. In doing so, the fractal hierarchy object library has, as basic objects, typical traffic conditions, for example, on a highway, on a highway or in mixed city traffic. Usually, a large number of vehicle data are examined at a time interval for each vehicle in a group, whereby the likelihood of the classification for a definite affiliation to a group or a certain position in a group, for example. Is repeatedly increased.

Since the use of the fractal Darwinian object generation method is the preferred method for determining the relevant vehicle or vehicle group, the principle considerations of fractal Darwinian object generation will now generally be reiterated.

In this case, only a two-dimensional image considered as an object having a complicated structure or a complex composition to be investigated will be considered below. However, such a structure to be investigated may be the traffic situation described above, wherein the individual vehicles are integrated into lower and upper objects or groups.

In the method described below, for example, the recognition and generation of traffic conditions is understood as a multi-stage or fractal and evolutionary or Darwinian process. In doing so, the individual objects of the traffic situation are treated as some kind of independent "creature", which is very vague, formal and unrealistic at the beginning of the method, but changes as the method is repeatedly executed. And become more and more compatible with a library of known objects that form so-called computer experience records.

At that time, the objects are hierarchically structured. Therefore, large or higher-level objects are decomposed or divided into lower-level objects or lower-level objects, and small or lower-level objects are combined into large or higher-level objects. Thus, the method of adapting an object to an object library occurs at a number of levels. For this adaptation, the attribute rules of objects and, on the other hand, context rules between objects and between hierarchical structures are important when comparing with object libraries.

An evolutionary algorithm is used to obtain the best fit of all objects and structures so that a meaningful solution is obtained. In this context, reference is made, inter alia, to a general Darwin-type mechanism, which is briefly described below.

Separation, Attraction According to the present invention, separation means, for example, that a partial area of an image to be examined is an object.
To separate from the This is decomposition or division by a certain algorithm
Or by segmentation. Segmentation should be based on homogeneity criteria
Take into account the similarity or affiliation between image elements and image segments.
It is preferred to use a method for determining Conversely, also small objects or below
Higher order objects can be combined into larger or higher order objects.
In this case, the grouping boundaries correspond to a certain number of group members in the separation.
For example, hierarchical object structures can be generated without detailed background knowledge,
Thereby, as long as the application of the homogeneity rule results in a value below the threshold, the smaller the
Arbitrary data given by integrating the object into a larger object
A hierarchical abstraction of records is provided. Homogeneity criteria include, for example, fusion or
The inhomogeneity h weighted by the size of the newly created object
, Each size n₁Or n_TwoInhomogeneity h of the original object weighted by ₁ Or h_TwoCan be used. Heterogeneity after and before weighting
Sex difference Δh_weight, Ie the heterogeneity introduced when integrating two objects
The gender is obtained from the following equation.

[0031]

(Equation 1)

However, this difference must be as small as possible.

[0033] Of all object pairs that may be problematic for fusion or establishment, those that minimize the difference in weighted heterogeneity introduced by fusion or establishment are first integrated. If the weighted heterogeneity difference divided by the sum of the magnitudes (Δh _weight / (n ₁ + n ₂ )) falls below a predetermined threshold, the objects are merged during integration. On the other hand, if the value obtained by dividing the weighted heterogeneity difference by the sum of the magnitudes exceeds a predetermined threshold, a new superior object is established, and the smaller object is maintained or stored in the object library. Subordinate objects that are potentially interchangeable between two objects are effectively moved if such exchange or movement reduces the weighted inhomogeneity of both objects according to:

[0034]

(Equation 2)

Accordingly, a hierarchical object structure is created from the basic objects by establishing, dividing, merging, decomposing, sub-arranging, ungrouping, and changing groups from the basic objects. At that time, the establishment of generating a higher-level object conflicts with the division for generating a lower-level object. Fusion to create a larger object from a large number of small objects conflicts with decomposition to create a smaller object from a large object. In the case of the lower-level arrangement, the object is captured and arranged below the upper-level object. Conversely, in the case of ungrouping, lower objects are removed from higher objects. In the case of a group change, lower-level objects are exchanged.

Each object can have a special relationship with another group member. These relationships or context rules are also called attraction. In a static image, the attraction or relationship in a given sample can be represented by a characteristic relative relationship, ratio of magnitudes or angles. In addition, each object is assigned a predetermined attribute that reflects, for example, the compressed geometric shape, color scheme, etc. in its n-dimensional space.

Modification Which regions of a complex object should be significantly designated as objects, as mentioned above, is often not clearly defined during the first steps of the method. Therefore, decomposition or synthesis of objects from these regions is performed iteratively. Thereafter, the object is first created temporarily, and then iteratively and progressively changed.
Changing an object separates an area from its lower-level objects, for example,
Alternatively, it is performed by incorporating a surrounding area, for example, an adjacent area. Another way to change is to change the attraction or context rules.

A local modification of an object can be considered a modification. However, there is a variety of possible changes from local changes, so a general concept change is used.

Sorting, Fitness When changing each object, its “fitness” or “classification likelihood” for the object library should be optimized. As a measure of the fitness or the classification likelihood, the similarity between the set attribute and various attributes of an object of an object library prepared in advance is effective. A large number of possible objects are stored in the object library along with their possible attributes or attribute rules, so there are obviously more objects than objects (eg images) to investigate.

Furthermore, possible relationships or context rules between objects, and thus their attraction, can be described in an object library. The objects or structures in the image also have some greater similarity, and thus have a classification likelihood for the possible attraction or context rules of the corresponding object in the object library.

Multiplicity, Mating In addition, the multiplicity of objects and object structures can be used as long-term memory. This means that not only the best of these objects or structures (highest classification likelihood) but also a small number of good objects (lower classification likelihood) survive or are used. This once found, but at this time the second class potential is not lost. This multiplicity is a memory for secondary and tertiary ones. At this time, the second class may survive in later stages of development,
This makes sense. In addition, the multiplicity of solvability allows for another type of change alongside the mutation. This other kind of change is called "crossing" or compounding and combining different solution structures.

Replication In nature, the replication of "good" organisms increases the number of organisms of that type. It makes sense because a particular genetic code can now work in two places simultaneously. When an object is created by a sequentially operating computer, something that is somewhat equivalent is, at first glance, meaningless to the object. However, in a dynamic system, when reviewed again, this may only be useful for clues or objects of the same solution. In a dynamic system, the surroundings of an object change. Thus, in recognizing or creating an object, the object is treated more frequently, and thus the meaning of the object is enhanced by a substantial increase in number. Duplicated objects are changed as well, so it often makes sense to store only the object and the various changes.

Erasure Many of the solutions must be erased so that regeneration does not increase the number of solutions too significantly so that the optimization process is not unnecessarily delayed.

Because the Darwinian algorithm is partially very peculiar, it is not desirable to apply all possible types of algorithms simultaneously to the entire image to be examined. Rather, it is appropriate to start with a very general, formal algorithm at the beginning of a method or "evolution". At that time, the first recognition level is reached by comparison with the object library. This recognition level can be used to use more sophisticated algorithms or transformation rules. This may improve classification likelihood or fitness. In particular, the algorithm can be used more precisely, thereby. More elaborate objects with individual importance, with increasing fitness or classification likelihood, are obtained.

The following details the multi-scale (Mehrskaligkeit) feature of the method according to the invention, which plays an important role in the analysis of complex structures.

The similarity of the object to be examined or the object of the image with one object of the object library corresponds to the local fitness or the local classification likelihood. However, this local classification likelihood alone is not enough. This is because ambiguity can continue even in the case of an object that already has a very high fitness or classification likelihood. That is, there is an equally high local fitness or classification likelihood for multiple objects in the object library. In this case, the meaning can often be clearly known only through context rules or the structure of objects below each object.

Therefore, a multi-scale, ie, fractal observation method is indispensable.
Thus, the handling of fractals of a structure to be inspected, for example in certain images or traffic situations, requires a hierarchical fractal object library, fractal fitness or classification likelihood, fractal transformation and fractal elimination. . A fractal object library is a library that stores not only the attributes or attribute rules of objects, but also the possible internal and external relationships (internal and external context rules) of these objects, and transformation rules. . This means that the library of fractals also describes what objects can be composed of various lower-level objects-including the relationships of these lower-level objects-and which objects are relative to higher-level objects. Whether they can be placed in such relationships or contexts,
It means that it is preserved. In other words, this can be hierarchical information. This is because objects are usually embedded in large relationships and are constructed by subordinate objects with special relationships. From this hierarchical structure, a hierarchical or fractal fitness or classification likelihood can be calculated by comparison with the hierarchical structure in the library.

Starting from the local fitness or classification likelihood calculated by directly comparing objects to objects in the object library, the local fitness and the hierarchical fitness are based on this local fitness. The fitness or classification likelihood of the constructed fractal is calculated. Through transformation, the classification likelihood of these fractals is optimized.

FIG. 2 shows a schematic of another traffic situation, for example as seen on an autobahn.

Here, reference symbol 0 indicates a reference vehicle, and reference symbols 1-4 indicate vehicles related to reference vehicle 0 because they are traveling in front of reference vehicle 0, or related vehicle groups. I have. The reference vehicle 0 has a maximum reception range, for example, as indicated by an elliptical frame. Within this maximum reception range are numerous other vehicles in addition to the relevant vehicle group. First, reference symbols 5, 6, 10 and 12 indicate vehicles that are traveling on the opposite lane of the autobahn but are within the reception range of the reference vehicle 0. Furthermore, reference signs 7, 8, 9 and 11 are running in the same direction as reference vehicle 0, but behind reference vehicle 0, and therefore need not be considered with respect to reference vehicle 0 or not. They do not need to be considered. All vehicles transmit and receive at a more or less equal time interval, or continuously, vehicle data signals containing the respective vehicle data. Therefore, for example, a large number of output data enters the reference vehicle 0. These data are illustratively presented in a simplified form in a table in FIG.

FIG. 4 shows simplified storage of a table of minimum vehicle data for each of vehicles 0-112. In the left orchid, for example, each identification code of the received vehicle data signal is stored in a binary number (0000-1100). In the adjacent columns, vehicle data received at time points t _n-3 , t _n-2 , t _n-1 and t _n are stored in the form of speed values v and respective received electric field strengths E. .

The first row of the table in FIG. 4 displays vehicle data of the reference vehicle 0 which is used as a comparative value or a reference value for other vehicle data. Therefore, the received electric field strength E is not entered.

Next, the table of FIG. 4 will be described in detail. Assume that the reference vehicle is traveling at a speed of v = 120 km / h. Vehicles 1 and 3 traveling in the right lane of the autobahn are traveling at the same speed, v1 = v3 = 100 km / h. Therefore, in these vehicles, the received electric field strength value increases at various points in time from t _n−3 to t _n . The reason why the received electric field strength increases is that the distance (distance) between the vehicles 1 and 3 becomes smaller because the reference vehicle 0 passes. On the other hand, the vehicles 2 and 4 are running at the same speed, v2 = v4 = 120 km / hour. Therefore, the received electric field strength of these vehicles is kept constant and invariable in proportion to the distance from the reference vehicle 0.

In the same manner, the values of the speed and the received electric field strength for the remaining vehicles 5-12 are calculated. However, vehicles 5, 6, 10 and 12 traveling in the oncoming lanes, in particular, have a very high relative speed (for example, V0-V12 = 240 km / h), and therefore, within the time grid of the embodiment selected here. When passing through the maximum reception range of the reference vehicle 0, only one data value remains in the storage, preferably formed as a ring storage. This fact can be used as a criterion for object identification or object creation, for example, to exclude vehicles 5, 6, 10 and 12 as unrelated groups or to classify them as groups on opposite lanes.
If, for example, the checking of the respective deceleration times is carried out with respect to the braking or accelerating process in a fixed group, it is possible in the same way to identify the following vehicles 7, 8, 9 and 11 according to the corresponding classification criteria. it can.

The vehicle groups 1-4 relevant for the reference vehicle 0 are determined in a similar way. In this case, for example, more accurate classification can be performed for the vehicles 2 and 4 running immediately before and the vehicles 1 and 3 running in the adjacent lane. Such a breakdown into a number of lower and higher groups or objects is usually
It is performed by the fractal-Darwin method described above. If a group of vehicles, for example vehicles 2 and 4, is classified into a particularly relevant group, the group behavior is calculated by calculating an arithmetic average, for example, its average speed, its delay behavior, etc.
Vehicle data. Based on this comparison, a signal is emitted. Such a signal is displayed, for example, in the form of a known traffic sign, ie a speed limit (symbol), or otherwise visually or audibly. But also
It is also possible to evaluate the group behavior of the relevant group so that, for example, the reference vehicle 0 is completely braked when a certain limit value is exceeded. In this regard, a number of other control measures are possible. For example, steering or acceleration control.

In the above-described embodiment, the interval parameter that is important for the identification of the object or the group is calculated based on the received electric field strength of the received radio signal. In addition to the received field strength, other signals or measurements can be used as values proportional to the spacing between the respective vehicles.

FIG. 3 shows a block diagram of an apparatus for signaling a local traffic obstruction according to one preferred embodiment.

Reference symbol 10 in FIG. 3 is a transmitting or receiving antenna, reference symbol 20 is a transmission / reception switch for separating the receiving channel from the transmitting channel, and reference symbol 30 is the respective vehicle's respective moment. A filter device for filtering the radio signal according to the respective identification code, reference numeral 40 indicates a receiver, and reference numeral 50 indicates a transmitter. The filter device 30 may further have a detector for detecting the received electric field strength of each wireless signal. The receiver 40 and the transmitter 50 are associated with a microprocessor 60 which takes over the control of the transmitting / receiving system. Reference numerals 90-140 indicate a number of detectors that detect the current vehicle data of the vehicle. Reference numeral 90 indicates a detection device for detecting the use status of the brake pedal. Reference numeral 100 indicates a detection device that displays a value θ according to the current steering angle. Reference numeral 110 indicates a detection device that displays the current speed value v of the vehicle. Reference symbol 120
Denotes a detection device that displays the current acceleration value or deceleration value v of each vehicle.
The device according to FIG. 3 further comprises a direction signal indicating the current driving direction of the respective vehicle.
You may have a compass 130 that displays DIR. In addition, a GP5 system (global positioning system) with an absolute position value POS to indicate the current absolute position can be used. The detection device 90-140 is, for example, a microprocessor 60
And is used for comparing vehicle data transmitted or received as vehicle data to other vehicles via the transmitter 50 and the antenna 1 with local vehicle data.

Reference numeral 70 indicates a first storage device in which the table shown in FIG. 4, for example, can be stored. The first storage device 70 is preferably constituted by a ring storage device in which writing is repeatedly performed at predetermined time intervals in the storage location. This makes it possible, for example, to ensure that the last received vehicle data,
Can be stored.

For the case where fractal Darwinian object generation is used as a method for determining the relevant vehicle group, the device for signaling this local traffic obstruction further comprises a second storage device 80. have. This second storage device 8
Within 0 is a hierarchical fractal object library.

The first storage device 70 and the second storage device 80 are connected to the microprocessor 60 through a bus system 170, thereby guaranteeing data exchange. When the microprocessor evaluates the vehicle data and confirms that the group behavior of the relevant vehicle group is inconsistent with its own vehicle data, e.g. that the speed of the relevant vehicle group is significantly slower than the speed of its own vehicle, The notification by the signal is performed through the display device 150 or the control device 160. At the display 150, each signal is presented in an audible and / or visible form. In this case, in particular, the known symbols for the speed limit can be used. Furthermore, the emergency braking can be automatically applied when an emergency danger situation is found through evaluation of the received vehicle data through the control device 160 based on local vehicle data, for example. is there.

Such an emergency danger situation can also be signaled to other vehicles by an additional emergency signal with a higher priority. In this way, for example, multiple collisions of the vehicle can be prevented in a particularly effective manner. To ensure that the emergency signal is propagated to the maximum, the receiver 40 evaluates only the emergency signal below a certain received field strength and sends it out again through the microprocessor 60 and the transmitter 50, whereby the repeater It has a threshold value determining device that can realize the function. In this case, the emergency signal that is amplified and transmitted again has the same identification code as the vehicle that originally transmitted the emergency signal.

The repeater function allows signals to reach a wide area beyond the respective group, so that each vehicle can perform a relevancy check on the received emergency signal. In doing so, it is checked whether the vehicle that has sent the emergency signal belongs to a group that is completely unrelated to the vehicle in question. In this case, the repeater function will not be used.

Preferably, the ignition key activates the transmitter and the receiver of the respective vehicle. Then, the parked vehicle will not automatically belong to the related vehicle group.

The limited transmission or reception range already determines the maximum group of vehicles for each vehicle. However, this group can be expanded or contracted as needed or as the situation requires, for example by the following methods.

(2) Proper expansion or reduction of the transmission and / or reception range;

(2) Retransmission of the received information, that is, vehicle data (the information can be transmitted many times, so that an extremely large reach can be realized)

(3) An accurate call to a vehicle or a vehicle group having a specific attribute. This transmits together with the identification code of the vehicle to be called, and the sending vehicle calls the receiving vehicle with certain attributes, for example, the largest group of vehicles running behind each vehicle. By (the sending vehicle directly specifies the group)
Or by sending indirect information, such as "to all vehicles traveling in the same direction as the reference vehicle" (the receiving vehicle determines whether it is being called).

(2) Formation of a lower group and / or an upper group that each vehicle itself always newly newly designates. In this case, the superior group is formed by interpreting the transmitted information. That is, a plurality of groups near the reference vehicle or a plurality of nearby groups running in the same direction. In this case, one group is all vehicles within the set reception range. Sub-groups include, for example, a reference vehicle and all vehicles traveling in opposition to the group, all vehicles traveling in the same direction of the group of reference vehicles, and all vehicles having similar driving characteristics (eg, speed). Vehicles, all vehicles traveling behind or in front of the reference vehicle, etc. A lower subgroup (= subordinate subgroup, subordinate group) is formed, for example, by all vehicles traveling behind the reference vehicle and accelerating. . .

{Circle around (3)} Forming a lower group and / or a higher group dynamically and globally according to a predetermined rule (part of which is determined by a meeting between vehicles). This global segmentation (fractal hierarchy group formation) has the advantage that a "Gruppensprecher" can be specified, which exchanges related information between groups.

To obtain the information needed for group formation (ermitteln), the following parameters can be detected:

(2) Detection of the relative distance (reference vehicle-other vehicle): by measuring the electric field strength; driving patterns (for example, the speed of each vehicle always applies a brake one second before the reference vehicle,. When the vehicle does ...);

(2) Detection of the relative traveling direction of the vehicle that has received the information: by measuring the increase or decrease of the electric field strength; by measuring the Doppler effect (when the relative position is detected); by the temporal analysis of the traveling pattern By receiving absolute direction data (eg, a compass) and comparing it with its own direction data (of the reference vehicle);

(1) Relative position detection (before reference vehicle-behind reference vehicle): By measuring a speed difference (reference vehicle-each of the relevant vehicle) and comparing with a change in interval. If the vehicle in question is faster than the reference vehicle and the vehicle is driving behind the reference vehicle, the distance between the vehicle and the reference vehicle should be small; (For example, in each case the respective vehicle usually brakes before the reference vehicle; that is, it is running in front of the reference vehicle); by a heading transmitter or heading receiver.

(2) Detection of the driving lane (overtaking lane or wrong side of autobahn): By comparing the electric field strength with the transmitter at the side of the road: wrong, right-left, right; by temporal analysis of the driving pattern.

In addition, limiting the reception or transmission range can reduce the likelihood of simultaneous reception of (signals from) various transmitters, especially when using “burst” transmitters. However, this method has the disadvantage that the number of information received may be too low.

Therefore, it may be advantageous to tune the transmitters to each other. This can be achieved by transmitter synchronization or "group tuning". Synchronization can be performed, for example, centrally using a wireless time signal.

In one preferred embodiment, the transmission is performed in a definiert transmission block. After each block, a pause is inserted before the next vehicle can transmit. If there is one group, each transmitter can mutually determine the order of the respective transmission blocks. This may be, for example, the order in which each transmitter came into the group.

If the groups are too close to each other and interfere with each other, if the groups are compatible with each other (for example, in the same direction of travel),
It can be "merged" with each other with respect to the transmission cycle (Sendetakt). In this merger, for example, the order in the original group can be maintained, and one of its constituent vehicles is the first to propose the merge, the first to transmit, and then the second to Can be sent. If the groups become too large due to a merger, or if the two groups do not fit each other (for example, running in opposite directions), care must be taken that these two groups do not transmit at the same time. This can be realized, for example, by a “fastener method”. That is, according to how many groups meet each other, each group increases the transmission pause time between individual transmissions so that the constituent vehicles of other groups can interrupt the transmission pause time.

However, often, a rather continuous flow of traffic is seen, which may be branched in a mesh. Since not all vehicles contained in a large network can be synchronized with each other, groups must be created artificially. This can be done by a fractal hierarchy scheme. At that time, the vehicles are grouped together, the vehicles are taken from one group, the groups are merged,
"Group spokespersons" can be designated, groups can be subdivided, and / or superior groups can be formed. When one transmitter (= the transmitting vehicle) approaches a group, the transmitter will communicate by radio the desire to be accepted within the transmission idle time of the other transmitters. (= The transmitting vehicle) can be incorporated into that group along with the group to which it belongs (if such a group exists).

The transmission pause time is necessary not only to enable group dynamics (Gruppendynamik), but also to transmit high priority (accident, complete braking) signals (emergency signals). It is.

Another kind of synchronization group formation method could be realized by special pair synchronization.

Suppose there is one group in which a vehicle wants to join. The new vehicle first receives (signals) until the situation can be evaluated, and then applies during the transmission pause. Then, the order of all group members is shifted (one by one).

Assuming that a vehicle that has joined the group before the reference vehicle has a transmission number n, the reference vehicle has a transmission number (= transmission order) n + 1. If n + 1 exceeds a certain threshold, the reference vehicle is No. 1, but the phase is shifted by 180 degrees. Therefore, the reference vehicle becomes the first member of the second group. In this case, the reference vehicle transmits during the extended transmission suspension time of the vehicle traveling ahead. The transmitter behind the reference vehicle (= the transmitting vehicle) is the second vehicle 180 degrees out of phase. Now, when the number of vehicles in the group of reference vehicles reaches the maximum, the next vehicle becomes the first of the third group with a phase of 0 degree. At this time, the third and first groups transmit signals in synchronization. If these groups are far enough apart, they will not interfere.

When the groups start to interfere with each other, the “fastener method” always takes effect.

Instead of shifting the phase of the transmission cycle as described above, to prevent the adjacent groups from excessively interfering, the transmission frequency is slightly shifted so that the adjacent groups (just) It would be possible to disable reception.
Nevertheless, in order for information to be able to reach from one group to the other, a "speaker" for the group is designated (eg the last vehicle joined).
It would be possible to have the transceiver of this "voice representative" vehicle operate simultaneously at multiple frequencies.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a traffic situation on a main road.

FIG. 2 is a schematic diagram showing a traffic situation on a multi-lane highway.

FIG. 3 is a block diagram of an apparatus for signaling a local traffic obstruction according to a preferred embodiment;

FIG. 4 is a table showing an example of storing respective vehicle data in a storage device.

Claims (20)

[Claims] 1. A method for signaling a local traffic obstruction, comprising: a) determining the largest vehicle group (1-12) associated with a reference vehicle (0) with at least one individual vehicle data signal; Determining by receiving; b) repeatedly evaluating the data signal of at least one individual vehicle, the individual signal of at least one vehicle (1-12) in the largest vehicle group (1-12). C) storing at least one vehicle group (1-4) related to the reference vehicle (0) in the largest vehicle group (1-12). Determining by evaluating individual vehicle data; d) determining the group behavior of the at least one group of related vehicles (1-4) by evaluating the respective individual vehicle data; e) said at least one function Signaling the information corresponding to said group behavior of a group of vehicles (1-4) by a signal. 2. The method according to claim 1, wherein the determination of the at least one group of related vehicles (1-4) is performed by a method of fractal Darwinian object generation. . 3. The method of claim 2, wherein the method of fractal Darwinian object generation comprises: a) a fractal, having predetermined objects and their associated attributes, contexts, and rules of modification. Preparing a hierarchical object library; b) forming a basic object having lower and upper objects in a hierarchical object structure; c) converting the basic object into the fractal object library. In the step of comparing, the base object formed in each case is evaluated as unknown if there is no corresponding object having a corresponding attribute rule in said object library, and said fractal object library One or more corresponding If an object is present, one or more local classification likelihoods are associated with said base object having said attribute rule; d) said context to form and calculate respective classification likelihoods Applying the rule to each object; e) applying the modification rule to each object to optimize the fractal classification likelihood; and f) improving the previous classification likelihood step by step. Performing steps d) and e) in a recurring manner. 4. The method according to claim 1, wherein the largest vehicle group (1-12) associated with the reference vehicle (0) is a receiver (40) of the reference vehicle.
Determined by the maximum reception range. 5. The method according to claim 4, wherein the maximum reception range is adjusted depending on a determined traffic density and / or a reception impairment caused by an overlap of the received vehicle data signals. A method characterized by being a variable range of a receiver. 6. The method according to claim 1, wherein the individual vehicle data includes an identification code (IC) for identifying each vehicle, and a current speed of each of the vehicles. A speed value (v) for displaying, and an interval parameter for indicating an interval between the reference vehicle (0) and each vehicle in the largest vehicle group (1-12). A method characterized by the following. 7. The method according to claim 6, wherein the individual vehicle data comprises: a deceleration / acceleration value (v) for indicating a current deceleration / acceleration of the respective vehicle; And / or a steering angle (θ) for displaying the current steering angle of the vehicle, and / or a direction value (DIR) for displaying the current absolute direction of the respective vehicle, and / or
Or a position value (POS) for indicating the current absolute position of said respective vehicle, and / or
Or a brake signal value (BREMS) for indicating the current use of the braking device of the respective vehicle, and / or for displaying the current group behavior of the vehicle group to be observed, which is associated with the respective vehicle. And / or an emergency signal value for indicating a current emergency situation of said respective vehicle. 8. The method according to claim 7, wherein an emergency signal value is generated that takes precedence over the individual vehicle data values according to a predefined combination of individual vehicle data for each vehicle. A method characterized by the following. 9. The method according to claim 1, further comprising the step of controlling a vehicle in the reference vehicle (0) using a control device (160) in dependence on the information signaled by the signal. Is carried out. 10. The method according to claim 9, wherein the control is an engine control and / or a brake control. 11. A device for signaling a local traffic obstruction, comprising: detecting means (90-140) for detecting local vehicle data to be transmitted; each vehicle to be transmitted / received. A transmitting / receiving device (10-50) for transmitting / receiving a radio signal containing data, and an electric field intensity detecting means (30-40) for detecting the electric field intensity of each of the received radio signals. ), Depending on the identification code (IC) relating each radio signal to the respective transmitting vehicle, the time value and the received field strength of the respective radio signal, the respective received vehicle data as the largest data group Storage means (70) for storing; an evaluation device (60) for evaluating data of said largest data group, wherein at least one relevant data group is determined; and said at least one relevant data A determining device (60) for determining a signal value depending on the data of the group and the local vehicle data; and signaling means (150, 160) for signaling the determined signal value by a signal. An apparatus characterized in that: 12. The apparatus according to claim 11, further comprising storage means (80) for storing a fractal hierarchical object library, wherein said at least one associated data group is determined. Characteristic device. 13. The device according to claim 11, wherein
The detecting means includes a brake signal sensor (90), a steering wheel angle sensor (100), a speed sensor (110), an acceleration / deceleration sensor (120), a direction sensor (130), a position sensor (140), and / or an emergency signal sensor. An apparatus comprising: 14. The group behavior according to claim 11, wherein said detecting means (90-140) displays a current group behavior of a group of related vehicles associated with said respective vehicle. A device comprising a value determination device. 15. Apparatus according to claim 10, wherein the signaling means is display means (150) for presenting the determined signal value in an audible and / or visible form. An apparatus characterized in that: 16. Apparatus according to claim 10, wherein the signaling means is a control unit (160) for effecting engine control and / or brake control. 17. The apparatus according to claim 10, wherein the transmitting / receiving apparatus recognizes a received emergency signal and responds when the received electric field strength falls below a specific received electric field strength. An apparatus for transmitting the amplified emergency signal of claim 1, further comprising a detection device. 18. The apparatus according to claim 17, wherein the received emergency signal is indicative of an emergency signal value and / or a group behavior value of a vehicle transmitting the emergency signal. 19. The apparatus of claim 18, for evaluating the group behavior value associated with the emergency signal and adding to the emergency signal to be forwarded,
A device comprising an emergency signal evaluation device. 20. The apparatus of claim 19, wherein the group behavior value associated with the emergency signal is an interval between a vehicle transmitting the emergency signal and a vehicle receiving the emergency signal; The evaluation device calculates the total interval by summing the respective intervals when transmitting the emergency signal to the destination.